基于观测器和指定性能的非线性系统事件触发跟踪控制  

Event-triggered Tracking Control for a Class of Nonlinear Systems With Observer and Prescribed Performance

作　　者：游星星 杨道文 郭斌 刘凯[1] 佃松宜[1] 朱雨琪 YOU Xing-Xing;YANG Dao-Wen;GUO Bin;LIU Kai;DIAN Song-Yi;ZHU Yu-Qi(College of Electrical Engineering,Sichuan University,Chengdu 610065;Robot Perception and Control Joint Laboratory,Sichuan University&Aisono,Chengdu 610065)

机构地区：[1]四川大学电气工程学院,成都610065 [2]四川大学&瀚维智能机器人感知与控制联合实验室,成都610065

出　　处：《自动化学报》2024年第9期1747-1760,共14页Acta Automatica Sinica

基　　金：国家资助博士后研究人员计划(GZC20231783);国家重点研发计划(2018YFB1307401);国家自然科学基金(62403340,62303339,61906023);四川省自然科学基金(2023NSFSC0475,2021YJ0092);重庆市自然科学基金(cstc2019jcyj-msxmX0722,cstc2019jcyjmsxmX0710)资助。

摘　　要：针对一类具有外部扰动的非线性系统,提出了一种自适应模糊跟踪控制方法.首先,利用模糊逻辑系统逼近系统未知的非线性函数,并设计了一个模糊状态观测器来估计系统的不可测状态.其次,通过指定性能函数,使系统的跟踪误差能够约束在指定范围内.然后,利用Backsteping方法结合包含对数函数的Lyapunov泛函,设计了一个基于事件触发条件的自适应模糊控制器.基于Lyapunov稳定性理论和信号是半全局一致最终有界的.最后,通过一个数值仿真例子验证了所提出方法的有效性.This paper investigates an adaptive fuzzy tracking control method for a class of nonlinear systems with external disturbances.Firstly,fuzzy logic systems and the fuzzy state observer are implemented to approximate unknown nonlinear functions and estimate the unmeasured states of systems,respectively.Then,the tracking error can be constrained within the specified range by means of the performance function.Furthermore,an eventtriggered adaptive fuzzy controller is designed by employing the Backstepping method and Lyapunov functional with logarithm function.The proposed control strategy can ensure that all the signals of the closed-loop system are semiglobally uniformly ultimately bounded based on the Lyapunov stability theory and the properties of tanh function.Finally,a numerical simulation example is provided to verify the effectiveness of proposed method.

关 键 词：自适应控制 指定性能 事件触发 模糊逻辑系统 模糊观测器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]